Transmission system and all-terrain vehicle using the same
By adopting a combination design of spline sleeve and sliding sleeve in the all-terrain vehicle transmission system, selective coupling and disconnection of spline shaft and gear shaft can be achieved, solving the problem of component damage in the transmission system when trailerd, improving the applicability of the transmission mechanism and reducing production costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 浙江杰西嘉传动有限公司
- Filing Date
- 2026-04-01
- Publication Date
- 2026-06-09
AI Technical Summary
Existing all-terrain vehicle drive systems are prone to damage to critical components such as gearboxes and axle gears during long-term or long-distance towing. Furthermore, the existing axle power coupling and disconnection transmission mechanisms are not sufficiently adaptable, leading to increased costs and redundant design.
A transmission system was designed to achieve selective coupling and disconnection of the spline shaft and gear shaft through the combination of spline sleeve and sliding sleeve. The sliding sleeve is controlled to move along the spline shaft axial direction by the drive component, which can adapt to the needs of different vehicle models. Only the spline sleeve needs to be replaced to improve versatility.
Protect the transmission system under trailer conditions, reduce damage to critical components, improve the versatility of the transmission mechanism, and reduce redundant design and production costs.
Smart Images

Figure CN121947154B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and more particularly to a transmission system and an all-terrain vehicle using the transmission system. Background Technology
[0002] When all-terrain vehicles are towed for extended periods or long distances, their transmission systems may bear significant loads, which can easily damage critical components such as gears and steel belts inside the gearbox and axles. Some gearboxes mitigate this issue by integrating a power coupling and disconnect function. This function uses a power coupling device between the final drive gear and the differential to decouple the engine, transmission steel belt, pulleys, and wheels, thereby cutting off the power transmission path during towing.
[0003] However, limited by factors such as engine power, gear ratio, or installation space, such transmissions are not suitable for all types of all-terrain vehicles. Therefore, the industry is seeking to achieve power coupling and disconnection functions on the axle. Existing technology includes a transmission mechanism integrated into the axle's power input end, which controls the on / off of power transmission through the axial sliding of a splined sleeve, aiming to reduce the impact on the transmission system during towing. Currently, for different vehicle models, a new transmission mechanism often needs to be redesigned, which to some extent limits the applicability of the transmission mechanism and increases costs. Summary of the Invention
[0004] In view of this, this application provides a transmission system with better adaptability to transmission mechanisms and an all-terrain vehicle using the transmission system.
[0005] In a first aspect, one embodiment of this application provides a transmission system including an axle assembly. The axle assembly includes a splined shaft, a gear shaft, and a transmission mechanism. The splined shaft and the gear shaft are coaxially arranged, and the transmission mechanism can selectively disconnect or couple the transmission connection between the splined shaft and the gear shaft. The transmission mechanism includes a spline sleeve, a sliding sleeve, and a drive assembly. The spline sleeve is coaxial with the spline shaft and sleeved on the outer circumferential surface of the spline shaft, so as to be driven by the spline shaft to rotate around the same central axis. The spline sleeve slides along the axial direction of the spline shaft with the spline shaft, so that the spline sleeve has a coupling position with the gear shaft through spline engagement and a disconnected position from the gear shaft. The sliding sleeve is coaxial with the spline sleeve. The end of the spline sleeve is provided with multiple grooves arranged at intervals around the central axis of the spline sleeve. The sliding sleeve includes multiple claws arranged around the central axis of the sliding sleeve. Each claw corresponds to a groove and passes through the corresponding groove along the axial direction of the spline sleeve. When the sliding sleeve approaches the spline sleeve along its own axial direction, the sliding sleeve can drive the spline sleeve to move in the same direction. The drive assembly is connected to the sliding sleeve and is used to drive the sliding sleeve to move along the axial direction of the spline shaft.
[0006] In some alternative embodiments, the groove extends through the spline sleeve along its axial direction.
[0007] In some optional embodiments, the sliding sleeve also includes a driven portion, with multiple claw portions disposed on the same side of the driven portion. A limiting protrusion is provided on the side of the claw portion away from the driven portion. A movable protrusion is provided on the outer peripheral surface of the spline sleeve near the driven portion. The transmission mechanism also includes a buffer spring, which is disposed between the limiting protrusion and the movable protrusion. When the limiting protrusion moves toward the movable protrusion and compresses the buffer spring, the buffer spring can push the spline sleeve to the disconnected position.
[0008] In some optional embodiments, the transmission mechanism further includes a movable washer and a movable retaining ring. The outer peripheral surface of the movable protrusion is provided with a movable groove, the movable retaining ring is engaged in the movable groove, and the movable washer is disposed on the side of the movable retaining ring facing the buffer spring and is placed between the movable retaining ring and the buffer spring.
[0009] In some optional embodiments, the transmission mechanism further includes a limiting ring, wherein the outer peripheral surface of the limiting protrusion is provided with a limiting groove, and the limiting ring is engaged in the limiting groove; the radial inner surface of the limiting ring is provided with a plurality of supporting protrusions, each supporting protrusion being disposed between two adjacent limiting protrusions and supporting the opposing sidewalls of the two adjacent limiting protrusions.
[0010] In some optional embodiments, the transmission mechanism further includes an input retaining ring and a return spring. The outer peripheral surface of the spline shaft is provided with an input groove, and the input retaining ring is engaged in the input groove. The return spring is sleeved on the outer peripheral surface of the spline shaft. The input retaining ring limits one end of the return spring, and the other end of the return spring abuts against the end face of the spline sleeve to push the spline sleeve to the coupling position.
[0011] In some alternative embodiments, the spring constant of the return spring is greater than that of the buffer spring.
[0012] In some optional embodiments, the drive assembly includes a shift shaft and a shift fork. The central axis of the shift shaft is substantially perpendicular to the central axis of the spline shaft. The shift fork includes a main body and a shifting part. The shifting part is connected to the side of the main body and abuts against the end face of the driven part facing the claw. The main body is sleeved and fixed to the outer peripheral surface of the shift shaft and is driven to rotate by the shift shaft.
[0013] In some optional embodiments, the drive assembly further includes a shift rocker arm and a linkage torsion spring. The shift rocker arm is rotatably connected to the shift shaft, and the linkage torsion spring is sleeved on the outer peripheral surface of the shift shaft. One end of the linkage torsion spring is connected to the shift rocker arm, and the other end of the linkage torsion spring is connected to the actuating part.
[0014] Secondly, one embodiment of this application provides an all-terrain vehicle, including a frame, a body panel, a running gear system, a power system, and a transmission system. The body panel at least partially covers the frame, the running gear system is at least partially located under the frame, the running gear system includes wheels, the power system is supported by the frame and provides power to the running gear system, and the transmission system drivesly connects the power system and the running gear system. The transmission system is the transmission system described in some of the optional embodiments above, with a splined shaft drivingly connected to the power system and a gear shaft drivingly connected to the running gear system.
[0015] The drive assembly uses a sliding sleeve to drive the spline sleeve to slide axially on the spline shaft, achieving power coupling and disconnection. This helps decouple the transmission system from the wheels during towing, thus protecting the transmission system under towing conditions. The claws correspond one-to-one with the slots and pass through the corresponding slots axially along the spline sleeve, enabling a detachable connection between the spline sleeve and the sliding sleeve. This allows for the replacement of only the spline sleeve, rather than the entire transmission mechanism, to meet the needs of different vehicle models, improving the versatility of the transmission mechanism and helping to reduce the repetitive development and production costs caused by changes in vehicle models. When adapting to different vehicle models is required, power transmission can be achieved by replacing the spline sleeve with one that conforms to the corresponding spline specifications, while the main structure, such as the sliding sleeve and drive assembly, remains universal, thus addressing the issue of insufficient applicability of the transmission mechanism. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the transmission of an all-terrain vehicle in one embodiment of this application.
[0017] Figure 2 This is a side sectional view of the transmission system in one embodiment of this application.
[0018] Figure 3 This is a side sectional view of another state of the transmission system in one embodiment of this application.
[0019] Figure 4 This is a perspective view of the transmission mechanism in one embodiment of this application.
[0020] Figure 5 This is a perspective view of the sliding sleeve in one embodiment of this application.
[0021] Figure 6 This is a perspective view of a spline sleeve in one embodiment of this application.
[0022] Figure 7 This is a side sectional view of the transmission mechanism in one embodiment of this application.
[0023] Figure 8 This is a front view of the limiting retaining ring in one embodiment of this application.
[0024] Figure 9This is a perspective view of the engagement of the limiting ring and the sliding sleeve in one embodiment of this application.
[0025] Figure 10 This is a side sectional view of the transmission system from another angle in one embodiment of this application.
[0026] Figure 11 This is a perspective view of a shift fork in one embodiment of this application. Detailed Implementation
[0027] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose, the following description, in conjunction with the accompanying drawings and embodiments, is provided. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.
[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
[0029] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the embodiments and features described below can be combined with each other.
[0030] Please see Figure 1 An all-terrain vehicle 100 includes a frame (not shown), a body panel (not shown), a running gear 11, a power system 12, and a transmission system 13. The body panel at least partially covers the frame, the running gear 11 is at least partially located under the frame, the power system 12 is supported by the frame and provides power to the running gear 11, and the transmission system 13 drivesly connects the power system 12 and the running gear 11.
[0031] For ease of description of the technical solutions in this application, the front, rear, left, and right directions are defined. Among them, the front-rear direction refers to the length direction of the all-terrain vehicle 100, and the left-right direction refers to the width direction of the all-terrain vehicle 100.
[0032] The running system 11 includes running wheels, which are at least partially located under the vehicle frame and connected to the vehicle frame via suspension. The running wheels include two front running wheels 111 located in front of the all-terrain vehicle 100 and two rear running wheels 112 located behind the all-terrain vehicle 100, and the front running wheels 111 and the rear running wheels 112 are respectively rotatably connected to the vehicle frame.
[0033] The transmission system 13 includes an axle assembly. In some embodiments, the axle assembly is a front axle q1 disposed between two front wheels 111, the front axle q1 being connected to the front of the frame and drivingly connected to the two front wheels 111. In other embodiments, the axle assembly is a rear axle q2 disposed between two rear wheels 112, the rear axle q2 being connected to the rear of the frame and drivingly connected to the two rear wheels 112.
[0034] Please see Figure 2 and Figure 3 In some embodiments, the axle assembly includes a splined shaft 131, a gear shaft 132, and a transmission mechanism 133. The splined shaft 131 and the gear shaft 132 are coaxially arranged, and the transmission mechanism 133 can selectively disconnect or couple the transmission connection between the splined shaft 131 and the gear shaft 132.
[0035] Please refer to the following: Figure 4 In some embodiments, the transmission mechanism 133 includes a spline sleeve 1331, a sliding sleeve 1332, and a drive assembly 1333. The spline sleeve 1331 is coaxial with the spline shaft 131 and is sleeved on the outer peripheral surface of the spline shaft 131 so as to be driven by the spline shaft 131 to rotate around the same central axis.
[0036] Spline sleeve 1331 slides along the axial direction of spline shaft 131 with spline shaft 131, so that spline sleeve 1331 has a coupling position with gear shaft 132 through spline engagement (e.g., Figure 2 ) and the disconnected position from the gear shaft 132 (e.g. Figure 3 This enables power coupling and disconnection, which helps to decouple the transmission system 13 from the wheels when trailerd, thereby protecting the transmission system 13 under trailer conditions.
[0037] The drive assembly 1333 is connected to the sliding sleeve 1332 and is used to drive the sliding sleeve 1332 to move axially along the spline shaft 131.
[0038] It should be noted that when the spline sleeve 1331 is in the disconnected position, the transmission connection between the spline sleeve 1331 and the gear shaft 132 is disconnected. This means that the spline teeth on the inner wall of the spline sleeve 1331 are separated from the spline teeth on the outer circumferential surface of the gear shaft 132 to interrupt the transmission of torque. The projection of the main body c21 of the spline sleeve 1331 without spline teeth and the gear shaft 132 in the direction perpendicular to the axis of the gear shaft 132 may partially overlap or not overlap.
[0039] In some embodiments, the transmission system 13 further includes a housing 134, which has an inner cavity 1341 in which the gear shaft 132 and the transmission mechanism 133 are rotatably disposed. The spline shaft 131 is rotatably disposed in the inner cavity 1341 and partially extends out of the housing 134. In this embodiment, both the gear shaft 132 and the spline shaft 131 are supported within the housing 134 by bearings.
[0040] Please see Figure 5 and Figure 6 In some embodiments, the sliding sleeve 1332 and the spline sleeve 1331 are coaxially arranged. The end of the spline sleeve 1331 is provided with multiple sliding grooves a1. The multiple sliding grooves a1 are arranged at intervals around the central axis of the spline sleeve 1331, and each sliding groove a1 extends along the axial direction of the spline sleeve 1331.
[0041] The sliding sleeve 1332 includes a driven portion b1 and multiple claw portions b2. The claw portions b2 are all located on the same side of the driven portion b1 and arranged around the central axis of the sliding sleeve 1332. Each claw portion b2 corresponds to a groove a1 and passes through the corresponding groove a1 along the axial direction of the spline sleeve 1331. When the sliding sleeve 1332 approaches the spline sleeve 1331 along its own axial direction, the sliding sleeve 1332 can drive the spline sleeve 1331 to move in the same direction. On one hand, the spline sleeve 1331 follows the spline shaft 131 (… Figure 3 When rotating, the spline sleeve 1331 can drive the sliding sleeve 1332 to rotate through the cooperation of the slide groove a1 and the claw b2. On the other hand, the slide groove a1 can play a guiding role, which is conducive to the smooth movement of the spline sleeve 1331 along the axial direction on the sliding sleeve 1332.
[0042] In some embodiments, the groove a1 extends through the spline sleeve 1331 along the axial direction of the spline sleeve 1331, which is beneficial to improving the processing convenience of the groove a1 and at the same time, it is beneficial to reduce the weight of the spline sleeve 1331.
[0043] In some embodiments, a limiting protrusion b3 is provided on the side of the claw portion b2 away from the driven portion b1, and a movable protrusion a2 is provided on the spline sleeve 1331 near the outer peripheral surface of the driven portion b1.
[0044] The transmission mechanism 133 also includes a buffer spring 1334, which is disposed between the limiting protrusion b3 and the movable protrusion a2. When the limiting protrusion b3 moves toward the movable protrusion a2 and compresses the buffer spring 1334, the buffer spring 1334 can push the spline sleeve 1331 to the disconnected position. The sliding sleeve 1332 pushes the spline sleeve 1331 through the buffer spring 1334, thereby providing elastic buffering for the spline sleeve 1331 to move toward the disconnected position, thus improving the smoothness of the decoupling between the transmission system 13 and the wheel.
[0045] Please see Figure 6 andFigure 7 In some embodiments, the transmission mechanism 133 further includes a movable washer a3 and a movable retaining ring a4. The outer peripheral surface of the movable protrusion a2 is provided with a movable groove a21. The movable retaining ring a4 is engaged in the movable groove a21, and the movable washer a3 is disposed on the side of the movable retaining ring a4 facing the buffer spring 1334, and is placed between the movable retaining ring a4 and the buffer spring 1334, thereby positioning and buffering the driven part b1 of the buffer spring 1334 on the side of the movable protrusion a2, which helps to disperse the pressure of the buffer spring 1334, reduce the wear of the movable retaining ring a4, and improve the stability of the buffer spring 1334 during operation.
[0046] Please see Figure 7 and Figure 8 In some embodiments, the transmission mechanism 133 further includes a limiting retaining ring b4, and a limiting groove b31 is provided on the outer peripheral surface of the limiting protrusion b3. Figure 5 The limit retaining ring b4 is engaged in the limit slot b31.
[0047] Please see Figure 8 and Figure 9 The radial inner surface of the limiting ring b4 is provided with multiple supporting protrusions b41. Each supporting protrusion b41 is located between two adjacent limiting protrusions b3 and supports the opposing sidewalls of the two adjacent limiting protrusions b3. This helps to enhance the overall structural strength of the multiple limiting protrusions b3 and improve the stability of the sliding sleeve 1332 under stress.
[0048] Please see Figure 7 and Figure 8 In some embodiments, the transmission mechanism 133 further includes a limiting washer b5, which is disposed on the side of the limiting retaining ring b4 facing the buffer spring 1334 and is placed between the limiting retaining ring b4 and the buffer spring 1334. This helps to improve the stress distribution on the contact surface between the limiting retaining ring b4 and the buffer spring 1334, reduce wear, and assist in the positioning of the end face of the buffer spring 1334.
[0049] Please see Figure 2 and Figure 3 In some embodiments, the transmission mechanism 133 further includes an input retaining ring 1335 and a return spring 1336. The outer peripheral surface of the spline shaft 131 is provided with an input slot 1311, and the input retaining ring 1335 is engaged in the input slot 1311.
[0050] A return spring 1336 is sleeved on the outer circumferential surface of the splined shaft 131. An input retaining ring 1335 limits one end of the return spring 1336, and the other end of the return spring 1336 abuts against the end face of the splined sleeve 1331, used to push the splined sleeve 1331 to the coupling position. The elastic force of the return spring 1336 is opposite to that of the buffer spring 1334, used to push the splined sleeve 1331 to the coupling position.
[0051] In some embodiments, the spring constant of the return spring 1336 is greater than that of the buffer spring 1334. By making the spring constant of the return spring 1336 greater than that of the buffer spring 1334, it can be ensured that the spline sleeve 1331 can be stably maintained in the coupling position under the combined action of the return spring 1336 and the buffer spring 1334 when there is no external driving intervention, which helps to improve the reliability of the power connection of the transmission mechanism 133 under normal conditions.
[0052] Please see Figure 10 and Figure 11 In some embodiments, the drive assembly 1333 includes a shift shaft c1 and a shift fork c2, with the central axis of the shift shaft c1 being substantially perpendicular to the central axis of the spline shaft 131.
[0053] The shift fork c2 includes a main body c21 and an actuating part c22. The actuating part c22 is connected to the side of the main body c21 and is connected to the end face of the driven part b1 facing the pawl part b2 by abutment. The main body c21 is sleeved and fixed to the outer peripheral surface of the shift shaft c1 and is driven to rotate by the shift shaft c1. The drive assembly 1333 also includes a pin c23, and the main body c21 and the shift shaft c1 are coaxially fixedly connected by the pin c23.
[0054] The drive assembly 1333 drives the shift fork c2 to swing through the rotational motion of the shift shaft c1. The shifting part c22 of the shift fork c2 then pushes the driven part b1 of the sliding sleeve 1332, thereby converting the rotational motion into the axial linear motion of the sliding sleeve 1332. This vertical spatial layout structure helps to arrange the power switching control mechanism in a limited space and improves the compactness of the overall layout.
[0055] In some embodiments, the surface of the actuating part c22 facing the driven part b1 of the sliding sleeve 1332 is set to be arc-shaped, which is beneficial for the actuating part c22 to smoothly transition with the driven part b1 through the arc-shaped surface during the swinging process, making the shifting operation feel smoother.
[0056] In some embodiments, the drive assembly 1333 further includes a shift rocker arm c24 and a linkage torsion spring c25. The shift rocker arm c24 is rotatably connected to the shift shaft c1, and the linkage torsion spring c25 is sleeved on the outer peripheral surface of the shift shaft c1. One end of the linkage torsion spring c25 is connected to the shift rocker arm c24, and the other end of the linkage torsion spring c25 is connected to the actuating part c22. The linkage torsion spring c25 can store and release energy, making the shifting operation feel smoother and helping to maintain the contact between the actuating part c22 and the end face of the sliding sleeve 1332 when subjected to certain resistance, thus improving the responsiveness of the drive.
[0057] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.
Claims
1. A transmission system, comprising: An axle assembly includes a splined shaft, a gear shaft, and a transmission mechanism. The splined shaft and the gear shaft are coaxially arranged, and the transmission mechanism can selectively disconnect or couple the transmission connection between the splined shaft and the gear shaft. The transmission mechanism is characterized by comprising a spline sleeve, a sliding sleeve, and a drive assembly. The spline sleeve is coaxial with the spline shaft and sleeved on the outer circumferential surface of the spline shaft, so as to be driven by the spline shaft to rotate around the same central axis. The spline sleeve slides along the axial direction of the spline shaft with the spline shaft, so that the spline sleeve has a coupling position with the gear shaft through spline engagement and a disconnected position from the gear shaft. The sliding sleeve is coaxial with the spline sleeve, and the end of the spline sleeve is provided with multiple sliding grooves arranged at intervals around the central axis of the spline sleeve. The sliding sleeve includes multiple claws arranged around the central axis of the sliding sleeve, each claw corresponding to a sliding groove and passing through the corresponding sliding groove along the axial direction of the spline sleeve. When the sliding sleeve approaches the spline sleeve along its own axial direction, the sliding sleeve can drive the spline sleeve to move in the same direction. The drive assembly is connected to the sliding sleeve and is used to drive the sliding sleeve to move along the axial direction of the spline shaft.
2. The transmission system as described in claim 1, characterized in that, The groove extends through the spline sleeve along its axial direction.
3. The transmission system as described in claim 2, characterized in that, The sliding sleeve also includes a driven portion, and a plurality of claw portions are disposed on the same side of the driven portion. A limiting protrusion is provided on the side of the claw portion away from the driven portion. A movable protrusion is provided on the outer peripheral surface of the spline sleeve near the driven portion. The transmission mechanism also includes a buffer spring, which is disposed between the limiting protrusion and the movable protrusion. When the limiting protrusion moves toward the movable protrusion and compresses the buffer spring, the buffer spring can push the spline sleeve to the disconnected position.
4. The transmission system as described in claim 3, characterized in that, The transmission mechanism further includes a movable washer and a movable retaining ring. The outer peripheral surface of the movable protrusion is provided with a movable groove. The movable retaining ring is engaged in the movable groove. The movable washer is disposed on the side of the movable retaining ring facing the buffer spring and is placed between the movable retaining ring and the buffer spring.
5. The transmission system as described in claim 3, characterized in that, The transmission mechanism further includes a limiting ring, and the outer peripheral surface of the limiting protrusion is provided with a limiting groove, and the limiting ring is engaged in the limiting groove; the radial inner surface of the limiting ring is provided with a plurality of supporting protrusions, each of the supporting protrusions being disposed between two adjacent limiting protrusions and supporting the opposing sidewalls of the two adjacent limiting protrusions.
6. The transmission system as described in claim 3, characterized in that, The transmission mechanism further includes an input retaining ring and a return spring. The outer circumferential surface of the spline shaft is provided with an input groove, and the input retaining ring is engaged in the input groove. The return spring is sleeved on the outer circumferential surface of the spline shaft. The input retaining ring limits one end of the return spring, and the other end of the return spring abuts against the end face of the spline sleeve, for pushing the spline sleeve to the coupling position.
7. The transmission system as described in claim 6, characterized in that, The spring constant of the return spring is greater than that of the buffer spring.
8. The transmission system as described in claim 3, characterized in that, The drive assembly includes a shift shaft and a shift fork. The central axis of the shift shaft is substantially perpendicular to the central axis of the spline shaft. The shift fork includes a main body and a shifting part. The shifting part is connected to the side of the main body and abuts against the end face of the driven part facing the claw part. The main body is sleeved and fixed to the outer peripheral surface of the shift shaft and is driven to rotate by the shift shaft.
9. The transmission system as described in claim 8, characterized in that, The drive assembly also includes a shift rocker arm and a linkage torsion spring. The shift rocker arm is rotatably connected to the shift shaft, and the linkage torsion spring is sleeved on the outer circumferential surface of the shift shaft. One end of the linkage torsion spring is connected to the shift rocker arm, and the other end of the linkage torsion spring is connected to the actuation part.
10. An all-terrain vehicle, comprising: Frame; A body panel that at least partially covers the vehicle frame; A running system, at least partially located under the frame, the running system including running wheels, at least partially located under the frame; A power system, which is supported by the vehicle frame and provides power to the running system; The all-terrain vehicle is characterized in that it further includes the transmission system according to any one of claims 1 to 9, wherein the splined shaft is driven to the power system and the gear shaft is driven to the walking system.